六自由度

六個運動的自由度：前後、上下、左右、俯仰（pitch）、偏擺（yaw）、翻滾（roll）

六自由度是指剛體在三維空間中運動的自由度。特別是指剛體可以在前後、上下、左右三個互相垂直的坐標軸上平移，也可以在三個垂直軸上旋轉其方向，三種旋轉方向稱為俯仰（pitch）、偏擺（yawl）及翻滾（Roll）。

機器人

串行及平行機器手臂系統一般會設定可以以六個自由度的方式幫物體定位，其中包括三個平移自由度以及三個旋轉自由度。因此在機器手臂的組態以及致動器的位置之間會有對應關係，此關係是由正運動學及逆运动学所定義的。

机器人的自由度是其重要的性能指標。其數字一般是指其單臂上旋轉關節的數量，其自由度越高，表示其到達特定位置的靈活度就越高。這個是實務上的度量方式，和表示系統整體定位能力的絶對自由度不同。

2007年時，賽格威的發明者狄恩·卡门為國防高等研究計劃署（DARPA）提出了一個機器手臂的原型，共有14個自由度。類人型機器人的自由度至少會有30個，每一個手臂會有六個自由度，每一隻腳有五到六個自由度，而軀幹及頸也有更多的自由度。

工程

The term is important in mechanical systems, especially biomechanical systems for analyzing and measuring properties of these types of systems that need to account for all six degrees of freedom. Measurement of the six degrees of freedom is accomplished today through both AC and DC magnetic or electromagnetic fields in sensors that transmit positional and angular data to a processing unit. The data is made relevant through software that integrate the data based on the needs and programming of the users.

Ascension Technology Corporation has recently created a 6DoF device small enough to fit in a biopsy needle, allowing physicians to better research at minute levels. The new sensor passively senses pulsed DC magnetic fields generated by either a cubic transmitter or a flat transmitter and is available for integration and manufacturability by medical OEMs.

An example of six degree of freedom movement is the motion of a ship at sea. It is described as :

Translation:

1. Moving forward and backward on the X-axis. (Surging)
2. Moving left and right on the Y-axis. (Swaying)
3. Moving up and down on the Z-axis. (Heaving)

Rotation

1. Tilting side to side on the X-axis. (Rolling)
2. Tilting forward and backward on the Y-axis. (Pitching)
3. Turning left and right on the Z-axis. (Yawing)

参见：Euler angles

Operational envelope types

There are three types of operational envelope in the Six degrees of freedom. These types are Direct, Semi-direct (conditional) and Non-direct, all regardless of the time remaining for the execution of the maneuver, the energy remaining to execute the maneuver and finally, if the motion is commanded via a biological entity (human) or a robotical entity (computer).

1- Direct type : Involved a degree can be commanded directly without particularly conditions and described as a normal operation. (An aileron on a basic airplane)

2- Semi-direct type : Involved a degree can be commanded when some specific conditions are met. (Reverse thrust on an aircraft)

3- Non-direct type : Involved a degree when is achieved via the interaction with its environment and cannot be commanded. (Pitching motion of a vessel at sea)

Transitional type also exists in some vehicles. For example, when the Space Shuttle operates in space, the craft is described as fully-direct-six because its six degrees can be commanded. However, when the Space Shuttle is in the earth's atmosphere for its return, the fully-direct-six degrees are not longer applicable for many technical reasons.

Game controllers

Six degrees of freedom also refers to movement in video game-play.

First-person shooter (FPS) games generally provide five degrees of freedom: forwards/backwards, slide left/right, up/down (jump/crouch/lie), yaw (turn left/right), and pitch (look up/down). If the game allows leaning control, then some consider it a sixth DoF; however, this may not be completely accurate, as a lean is a limited partial rotation.

The term 6DoF has sometimes been used to describe games which allow freedom of movement, but do not necessarily meet the full 6DoF criteria. For example, Dead Space 2, and to a lesser extent, Homeworld and Zone Of The Enders allow freedom of movement.

Some examples of true 6DoF games, which allow independent control of all three movement axes and all three rotational axes, include Shattered Horizon, the Descent franchise, Retrovirus, Miner Wars, Space Engineers, Forsaken and Overload (from the same creators of Descent). The space MMO Vendetta Online also features 6 degrees of freedom.

Motion tracking devices such as TrackIR are used for 6DoF head tracking. This device often finds its places in flight simulators and other vehicle simulators that require looking around the cockpit to locate enemies or simply avoiding accidents in-game.

The acronym 3DoF, meaning movement in the three dimensions but not rotation, is sometimes encountered.

The Razer Hydra, a motion controller for PC, tracks position and rotation of two wired nunchucks, providing six degrees of freedom on each hand.

The SpaceOrb 360 is a 6DOF computer input device released in 1996 originally manufactured and sold by the SpaceTec IMC company (first bought by Labtec, which itself was later bought by Logitech).

相關條目

• 自由度 (工程学)
• 船舶运动